Merge pull request #13 from NVIDIA-ISAAC-ROS/release-dp-1.1

Isaac ROS 0.11.0 (DP1.1)

Author: hemalshahNV

README.md

@@ -38,16 +38,17 @@ This package is powered by [NVIDIA Isaac Transport for ROS (NITROS)](https://dev
 
 
 ## Latest Update
-Update 2022-06-30: Support NITROS acceleration
+Update 2022-08-31: Update to be compatible with JetPack 5.0.2
 
 ## Supported Platforms
 This package is designed and tested to be compatible with ROS2 Humble running on [Jetson](https://developer.nvidia.com/embedded-computing) with off-the-shelf cameras from NVIDIA partners (see the [Reference Cameras](#reference-cameras) section for more details).
 > **Note**: x86_64 system is not supported.
 
+> **Note**: Versions of ROS2 earlier than Humble are **not** supported. This package depends on specific ROS2 implementation features that were only introduced beginning with the Humble release.
 
-| Platform | Hardware                                                                                                                                                                                                | Software                                                          | Notes                                                                                                                                                                                                                                                                                                                                                       |
-| -------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
-| Jetson   | [Jetson Orin](https://www.nvidia.com/en-us/autonomous-machines/embedded-systems/jetson-orin/)<br/>[Jetson Xavier](https://www.nvidia.com/en-us/autonomous-machines/embedded-systems/jetson-agx-xavier/) | [JetPack 5.0.1 DP](https://developer.nvidia.com/embedded/jetpack) | The [CSI](https://en.wikipedia.org/wiki/Camera_Serial_Interface) camera device needs to be connected and presented as a video device (e.g. `/dev/video0`).<br/><br/>For best performance, ensure that [power settings](https://docs.nvidia.com/jetson/archives/r34.1/DeveloperGuide/text/SD/PlatformPowerAndPerformance.html) are configured appropriately. |
+| Platform | Hardware                                                                                                                                                                                                | Software                                                       | Notes                                                                                                                                                                                                                                                                                                                                                       |
+| -------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| Jetson   | [Jetson Orin](https://www.nvidia.com/en-us/autonomous-machines/embedded-systems/jetson-orin/)<br/>[Jetson Xavier](https://www.nvidia.com/en-us/autonomous-machines/embedded-systems/jetson-agx-xavier/) | [JetPack 5.0.2](https://developer.nvidia.com/embedded/jetpack) | The [CSI](https://en.wikipedia.org/wiki/Camera_Serial_Interface) camera device needs to be connected and presented as a video device (e.g. `/dev/video0`).<br/><br/>For best performance, ensure that [power settings](https://docs.nvidia.com/jetson/archives/r34.1/DeveloperGuide/text/SD/PlatformPowerAndPerformance.html) are configured appropriately. |
 
 
 ### Docker
@@ -183,8 +184,9 @@ Exit the Docker container and restart the `nvargus` daemon by running `sudo serv
 
 ## Updates
 
-| Date       | Changes                     |
-| ---------- | --------------------------- |
-| 2022-06-30 | Support NITROS acceleration |
-| 2022-03-18 | Support CameraInfo from URL |
-| 2021-10-20 | Initial release             |
+| Date       | Changes                                    |
+| ---------- | ------------------------------------------ |
+| 2022-08-31 | Update to be compatible with JetPack 5.0.2 |
+| 2022-06-30 | Support NITROS acceleration                |
+| 2022-03-18 | Support CameraInfo from URL                |
+| 2021-10-20 | Initial release                            |

isaac_ros_argus_camera/package.xml

@@ -13,7 +13,7 @@ license agreement from NVIDIA CORPORATION is strictly prohibited.
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>isaac_ros_argus_camera</name>
-  <version>0.10.0</version>
+  <version>0.11.0</version>
   <description>Support for Argus Stereo Camera</description>
 
   <maintainer email="glo@nvidia.com">Greg Lo</maintainer>
@@ -27,6 +27,8 @@ license agreement from NVIDIA CORPORATION is strictly prohibited.
   <depend>camera_info_manager</depend>
   <depend>geometry_msgs</depend>
   <depend>isaac_ros_nitros</depend>
+  <depend>isaac_ros_nitros_camera_info_type</depend>
+  <depend>isaac_ros_nitros_image_type</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
   <depend>tf2_ros</depend>

isaac_ros_argus_camera/src/argus_camera_node.cpp

@@ -19,6 +19,8 @@
 #include "gxf/multimedia/camera.hpp"
 #include "gxf/std/timestamp.hpp"
 #include "isaac_ros_argus_camera/argus_camera_node.hpp"
+#include "isaac_ros_nitros_camera_info_type/nitros_camera_info.hpp"
+#include "isaac_ros_nitros_image_type/nitros_image.hpp"
 
 namespace nvidia
 {
@@ -70,7 +72,11 @@ ArgusCameraNode::ArgusCameraNode(
     EXTENSIONS,
     PACKAGE_NAME),
   camera_link_frame_name_("camera"),
-  tf_broadcaster_(std::make_unique<tf2_ros::TransformBroadcaster>(*this)) {}
+  tf_broadcaster_(std::make_unique<tf2_ros::TransformBroadcaster>(*this))
+{
+  registerSupportedType<nvidia::isaac_ros::nitros::NitrosCameraInfo>();
+  registerSupportedType<nvidia::isaac_ros::nitros::NitrosImage>();
+}
 
 void ArgusCameraNode::ArgusImageCallback(
   const gxf_context_t context, nitros::NitrosTypeBase & msg, const std::string frame_name)

isaac_ros_argus_camera/test/isaac_ros_argus_camera_mono_test.py

@@ -8,46 +8,65 @@
 
 import os
 import pathlib
+import shlex
+import subprocess
 import time
 
 import cv2
 from cv_bridge import CvBridge
 from isaac_ros_test import IsaacROSBaseTest
 from launch_ros.actions import ComposableNodeContainer
 from launch_ros.descriptions import ComposableNode
+import launch_testing
 import pytest
 import rclpy
 
 from sensor_msgs.msg import CameraInfo, Image
 
+SKIP_TEST = True
+
 
 @pytest.mark.rostest
 def generate_test_description():
-    argus_mono_node = ComposableNode(
-        name='argus_mono',
-        package='isaac_ros_argus_camera',
-        plugin='nvidia::isaac_ros::argus::ArgusMonoNode',
-        namespace=IsaacArgusMonoNodeTest.generate_namespace(),
-    )
-
-    return IsaacArgusMonoNodeTest.generate_test_description([
-        ComposableNodeContainer(
-            name='argus_mono_container',
-            package='rclcpp_components',
-            executable='component_container_mt',
-            composable_node_descriptions=[argus_mono_node],
+    device_id = 0
+    command = f'"if [ -c /dev/video{device_id} ]; then echo Device Found; \
+                else echo Device Not Found; fi"'
+    result = subprocess.run(shlex.split(command), shell=True, capture_output=True, text=True)
+
+    if(result.stdout.strip() == 'Device Found'):
+        IsaacArgusMonoNodeTest.skip_test = False
+
+        argus_mono_node = ComposableNode(
+            name='argus_mono',
+            package='isaac_ros_argus_camera',
+            plugin='nvidia::isaac_ros::argus::ArgusMonoNode',
             namespace=IsaacArgusMonoNodeTest.generate_namespace(),
-            output='screen',
-            arguments=['--ros-args', '--log-level', 'info',
-                       '--log-level', 'isaac_ros_test.argus_mono:=debug',
-                       '--log-level', 'NitrosImage:=debug',
-                       '--log-level', 'NitrosCameraInfo:=debug'],
+            parameters=[{'camera_id': device_id}]
         )
-    ])
+
+        return IsaacArgusMonoNodeTest.generate_test_description([
+            ComposableNodeContainer(
+                name='argus_mono_container',
+                package='rclcpp_components',
+                executable='component_container_mt',
+                composable_node_descriptions=[argus_mono_node],
+                namespace=IsaacArgusMonoNodeTest.generate_namespace(),
+                output='screen',
+                arguments=['--ros-args', '--log-level', 'info',
+                           '--log-level', 'isaac_ros_test.argus_mono:=debug',
+                           '--log-level', 'NitrosImage:=debug',
+                           '--log-level', 'NitrosCameraInfo:=debug'],
+            )
+        ])
+    else:
+        IsaacArgusMonoNodeTest.skip_test = True
+        return IsaacArgusMonoNodeTest.generate_test_description(
+            [launch_testing.actions.ReadyToTest()])
 
 
 class IsaacArgusMonoNodeTest(IsaacROSBaseTest):
     filepath = pathlib.Path(os.path.dirname(__file__))
+    skip_test = False
 
     def test_image_capture(self):
         """
@@ -56,30 +75,33 @@ def test_image_capture(self):
         Test that the functionality to read the image message from argus mono camera and save
         it to the disk.
         """
-        TIMEOUT = 10
-        received_messages = {}
-
-        self.generate_namespace_lookup(['left/image_raw', 'left/camerainfo'])
-
-        subs = self.create_logging_subscribers(
-            [('left/image_raw', Image), ('left/camerainfo', CameraInfo)], received_messages,
-            accept_multiple_messages=True)
-        try:
-            end_time = time.time() + TIMEOUT
-            done = False
-
-            while time.time() < end_time:
-
-                rclpy.spin_once(self.node, timeout_sec=(0.1))
-                if len(received_messages['left/image_raw']) > 0 and \
-                        len(received_messages['left/camerainfo']) > 0:
-                    done = True
-                    break
-            self.assertTrue(done, 'Appropriate output not received')
-            left_image = received_messages['left/image_raw']
-
-            left_cv_image = CvBridge().imgmsg_to_cv2(left_image[0], desired_encoding='bgr8')
-            cv2.imwrite('left_image.png', left_cv_image)
-
-        finally:
-            self.node.destroy_subscription(subs)
+        if self.skip_test:
+            self.skipTest('No camera detected! Skipping test.')
+        else:
+            TIMEOUT = 10
+            received_messages = {}
+
+            self.generate_namespace_lookup(['left/image_raw', 'left/camerainfo'])
+
+            subs = self.create_logging_subscribers(
+                [('left/image_raw', Image), ('left/camerainfo', CameraInfo)], received_messages,
+                accept_multiple_messages=True)
+            try:
+                end_time = time.time() + TIMEOUT
+                done = False
+
+                while time.time() < end_time:
+
+                    rclpy.spin_once(self.node, timeout_sec=(0.1))
+                    if len(received_messages['left/image_raw']) > 0 and \
+                            len(received_messages['left/camerainfo']) > 0:
+                        done = True
+                        break
+                self.assertTrue(done, 'Appropriate output not received')
+                left_image = received_messages['left/image_raw']
+
+                left_cv_image = CvBridge().imgmsg_to_cv2(left_image[0], desired_encoding='bgr8')
+                cv2.imwrite('left_image.png', left_cv_image)
+
+            finally:
+                self.node.destroy_subscription(subs)

isaac_ros_argus_camera/test/isaac_ros_argus_camera_stereo_test.py

@@ -8,13 +8,16 @@
 
 import os
 import pathlib
+import shlex
+import subprocess
 import time
 
 import cv2
 from cv_bridge import CvBridge
 from isaac_ros_test import IsaacROSBaseTest
 from launch_ros.actions import ComposableNodeContainer
 from launch_ros.descriptions import ComposableNode
+import launch_testing
 import pytest
 import rclpy
 
@@ -23,32 +26,46 @@
 
 @pytest.mark.rostest
 def generate_test_description():
-    argus_stereo_node = ComposableNode(
-        name='argus_stereo',
-        package='isaac_ros_argus_camera',
-        plugin='nvidia::isaac_ros::argus::ArgusStereoNode',
-        namespace=IsaacArgusStereoNodeTest.generate_namespace(),
-    )
-
-    return IsaacArgusStereoNodeTest.generate_test_description([
-        ComposableNodeContainer(
-            name='argus_stereo_container',
-            package='rclcpp_components',
-            executable='component_container_mt',
-            composable_node_descriptions=[argus_stereo_node],
+    device_id = 0
+    command = f'"if [ -c /dev/video{device_id} ]; then echo Device Found; \
+                else echo Device Not Found; fi"'
+    result = subprocess.run(shlex.split(command), shell=True, capture_output=True, text=True)
+
+    if(result.stdout.strip() == 'Device Found'):
+        IsaacArgusStereoNodeTest.skip_test = False
+
+        argus_stereo_node = ComposableNode(
+            name='argus_stereo',
+            package='isaac_ros_argus_camera',
+            plugin='nvidia::isaac_ros::argus::ArgusStereoNode',
             namespace=IsaacArgusStereoNodeTest.generate_namespace(),
-            output='screen',
-            arguments=['--ros-args', '--log-level', 'info',
-                       '--log-level', 'isaac_ros_test.argus_stereo:=debug',
-                       '--log-level', 'NitrosImage:=debug',
-                       '--log-level', 'NitrosCameraInfo:=debug'
-                       ],
+            parameters=[{'camera_id': device_id}]
         )
-    ])
+
+        return IsaacArgusStereoNodeTest.generate_test_description([
+            ComposableNodeContainer(
+                name='argus_stereo_container',
+                package='rclcpp_components',
+                executable='component_container_mt',
+                composable_node_descriptions=[argus_stereo_node],
+                namespace=IsaacArgusStereoNodeTest.generate_namespace(),
+                output='screen',
+                arguments=['--ros-args', '--log-level', 'info',
+                           '--log-level', 'isaac_ros_test.argus_stereo:=debug',
+                           '--log-level', 'NitrosImage:=debug',
+                           '--log-level', 'NitrosCameraInfo:=debug'
+                           ],
+            )
+        ])
+    else:
+        IsaacArgusStereoNodeTest.skip_test = True
+        return IsaacArgusStereoNodeTest.generate_test_description(
+            [launch_testing.actions.ReadyToTest()])
 
 
 class IsaacArgusStereoNodeTest(IsaacROSBaseTest):
     filepath = pathlib.Path(os.path.dirname(__file__))
+    skip_test = False
 
     def test_image_capture(self):
         """
@@ -57,37 +74,41 @@ def test_image_capture(self):
         Test that the functionality to read the image message from argus stereo camera and save
         it to the disk.
         """
-        TIMEOUT = 10
-        received_messages = {}
-
-        self.generate_namespace_lookup(
-            ['left/image_raw', 'right/image_raw', 'left/camerainfo', 'right/camerainfo'])
-
-        subs = self.create_logging_subscribers(
-            [('left/image_raw', Image), ('right/image_raw', Image),
-             ('left/camerainfo', CameraInfo), ('right/camerainfo', CameraInfo)], received_messages,
-            accept_multiple_messages=True)
-        try:
-            end_time = time.time() + TIMEOUT
-            done = False
-
-            while time.time() < end_time:
-
-                rclpy.spin_once(self.node, timeout_sec=(0.1))
-                if len(received_messages['left/image_raw']) > 0 and \
-                   len(received_messages['right/image_raw']) > 0 and \
-                   len(received_messages['left/camerainfo']) > 0 and \
-                   len(received_messages['right/camerainfo']) > 0:
-                    done = True
-                    break
-            self.assertTrue(done, 'Appropriate output not received')
-            left_image = received_messages['left/image_raw']
-            right_image = received_messages['right/image_raw']
-
-            left_cv_image = CvBridge().imgmsg_to_cv2(left_image[0], desired_encoding='bgr8')
-            right_cv_image = CvBridge().imgmsg_to_cv2(right_image[0], desired_encoding='bgr8')
-            cv2.imwrite('left_image.png', left_cv_image)
-            cv2.imwrite('right_image.png', right_cv_image)
-
-        finally:
-            self.node.destroy_subscription(subs)
+        if self.skip_test:
+            self.skipTest('No camera detected! Skipping test.')
+        else:
+            TIMEOUT = 10
+            received_messages = {}
+
+            self.generate_namespace_lookup(
+                ['left/image_raw', 'right/image_raw', 'left/camerainfo', 'right/camerainfo'])
+
+            subs = self.create_logging_subscribers(
+                [('left/image_raw', Image), ('right/image_raw', Image),
+                 ('left/camerainfo', CameraInfo), ('right/camerainfo', CameraInfo)],
+                received_messages,
+                accept_multiple_messages=True)
+            try:
+                end_time = time.time() + TIMEOUT
+                done = False
+
+                while time.time() < end_time:
+
+                    rclpy.spin_once(self.node, timeout_sec=(0.1))
+                    if len(received_messages['left/image_raw']) > 0 and \
+                            len(received_messages['right/image_raw']) > 0 and \
+                            len(received_messages['left/camerainfo']) > 0 and \
+                            len(received_messages['right/camerainfo']) > 0:
+                        done = True
+                        break
+                self.assertTrue(done, 'Appropriate output not received')
+                left_image = received_messages['left/image_raw']
+                right_image = received_messages['right/image_raw']
+
+                left_cv_image = CvBridge().imgmsg_to_cv2(left_image[0], desired_encoding='bgr8')
+                right_cv_image = CvBridge().imgmsg_to_cv2(right_image[0], desired_encoding='bgr8')
+                cv2.imwrite('left_image.png', left_cv_image)
+                cv2.imwrite('right_image.png', right_cv_image)
+
+            finally:
+                self.node.destroy_subscription(subs)